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Added JLN's landing patch, moved some variables local such as Jump counter

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This commit is contained in:
Jason Short 2012-01-03 10:21:52 -08:00
parent c0c2ea4ebb
commit 580ad2c5ce
1 changed files with 36 additions and 12 deletions
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48
ArduCopter/commands_logic.pde
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@ -103,17 +103,17 @@ static void process_now_command()
}
}
//static void handle_no_commands()
//{
/*
/*{
switch (control_mode){
default:
set_mode(RTL);
break;
}*/
//return;
//Serial.println("Handle No CMDs");
//}
}
return;
Serial.println("Handle No CMDs");
}*/
/********************************************************************************/
// Verify command Handlers
@ -270,9 +270,6 @@ static void do_land()
// not really used right now, might be good for debugging
land_complete = false;
// A value that drives to 0 when the altitude doesn't change
velocity_land = 2000;
// used to limit decent rate
land_start = millis();
@ -298,6 +295,9 @@ static void do_loiter_turns()
{
wp_control = CIRCLE_MODE;
// reset desired location
circle_angle = 0;
if(command_nav_queue.lat == 0){
// allow user to specify just the altitude
if(command_nav_queue.alt > 0){
@ -344,15 +344,32 @@ static bool verify_takeoff()
static bool verify_land()
{
static int32_t old_alt = 0;
static int16_t velocity_land = -1;
// land at .62 meter per second
next_WP.alt = original_alt - ((millis() - land_start) / 16); // condition_value = our initial
velocity_land = ((old_alt - current_loc.alt) *.2) + (velocity_land * .8);
if (old_alt == 0)
old_alt = current_loc.alt;
if (velocity_land == -1)
velocity_land = 2000;
// a LP filter used to tell if we have landed
// will drive to 0 if we are on the ground - maybe, the baro is noisy
velocity_land = ((velocity_land * 7) + (old_alt - current_loc.alt)) / 8;
old_alt = current_loc.alt;
if (current_loc.alt < 250){
if (current_loc.alt < 300){
wp_control = NO_NAV_MODE;
next_WP.alt = -200; // force us down
// Update by JLN for a safe AUTO landing
manual_boost = -10;
g.throttle_cruise += g.pi_alt_hold.get_integrator();
g.pi_alt_hold.reset_I();
g.pi_throttle.reset_I();
}
if(g.sonar_enabled){
@ -366,6 +383,8 @@ static bool verify_land()
if(velocity_land <= 0){
land_complete = true;
// reset old_alt
old_alt == 0;
// commented out to prevent tragedy
//return true;
}
@ -654,6 +673,11 @@ static void do_loiter_at_location()
static void do_jump()
{
// Used to track the state of the jump command in Mission scripting
// -10 is a value that means the register is unused
// when in use, it contains the current remaining jumps
static int8_t jump = -10; // used to track loops in jump command
//Serial.printf("do Jump: %d\n", jump);
if(jump == -10){